TWI812727B - Article transport vehicle - Google Patents

Abstract

The article transport vehicle is provided with: a traveling part that travels to a set position corresponding to each of the plurality of storage parts for storing articles; a supporting part that supports the article; an irradiating part that irradiates light; and a control part that controls the traveling part and the irradiating part . The control unit executes the following controls: walking control, which controls the walking unit to move to a set position corresponding to the target storage unit; and irradiation control, which controls the irradiation unit to irradiate light to the irradiation unit corresponding to the target storage unit. Location.

Description

Item transfer truck

Field of invention The present invention relates to an article transport vehicle provided with a support portion for supporting articles.

Background of the invention Hereinafter, background technology will be described. In the following description, symbols or names in parentheses are those in prior technical documents. An example of the article transport vehicle is described in Japanese Patent Application Laid-Open No. 2008-247546 (Patent Document 1). The article transport vehicle (cart for picking operations) of Patent Document 1 is installed on the picking equipment. In this picking equipment, a picking operation is performed. The aforementioned picking operation is to move the article transport vehicle through the push and pull operation of the operator, and move it to the storage part (article storage) of the destination storage rack (3). 5), the items are taken out from the storage portion of the storage rack and supported on the support portion (container box 8) of the article transport vehicle. In the above-mentioned picking equipment, a picking display (6) is provided for each of the plurality of storage units. This picking display is equipped with a display/complete button (6b), and by lighting the display/complete button corresponding to the storage section where the article is to be taken out, the storage section where the article is to be taken out is displayed to the operator. Prior technical literature patent documents

Patent Document 1: Japanese Patent Application Publication No. 2008-247546

Summary of the invention The problem to be solved by the invention As mentioned above, by lighting the display/complete button, the operator can easily identify the storage section from which items should be taken out, thus suppressing errors in picking operations. However, it is necessary to provide a picking display for each storage section. Therefore, the overall manufacturing cost of the picking equipment equipped with the article transport vehicle becomes high.

Therefore, it is desired to implement an article transport vehicle that can display the position corresponding to the object storage portion while suppressing the manufacturing cost of the entire device. means to solve problems

The article transport vehicle of the present disclosure includes: a walking part that travels to a set position corresponding to each of a plurality of storage parts for storing articles; a supporting part that supports the article; an irradiating part that irradiates light; and a control part that controls the aforementioned walking and the irradiation part, and the storage part storing the articles that can be supported on the support part is used as the target storage part, and the control part executes the following control: walking control, and controls the walking part so that the walking part walks to the setting position set corresponding to the object storage portion; and irradiation control to control the irradiation portion to irradiate light to the irradiation position corresponding to the object storage portion.

According to this configuration, the control unit performs walking control to cause the walking unit to move to a set position, and the control unit performs irradiation control to cause the irradiation unit to irradiate light to an irradiation position corresponding to the object storage portion. By irradiating light to the irradiation position in this manner, the object storage portion can be displayed with light. Therefore, it is possible to prevent an operator from making a mistake in taking out an article from a storage unit other than the target storage unit during the picking operation. Furthermore, by providing the irradiation unit in the article transport vehicle, there is no need to provide a device for displaying the storage target portion in each of the plurality of storage units. Therefore, the overall cost of equipment for installing the article transport vehicle can be kept low.

Form used to implement the invention 1. Implementation form The embodiment of the article transport vehicle used in the picking equipment will be explained based on the drawings. As shown in Figures 1 and 2, the picking equipment is equipped with: an article storage rack 2, equipped with a plurality of storage parts 1 for storing articles W; an article transport vehicle 3, walking on the ground F; and a control device H (refer to the figure 7), manage the articles W stored in the article storage rack 2 and control the article transport vehicle 3 .

Hereinafter, the article storage rack 2 and the article transport vehicle 3 will be described. The direction in which the storage portions 1 of the article storage rack 2 are arranged in the up-down direction Z is referred to as the first direction X (arrangement arrangement). direction), the direction orthogonal to the first direction X is called the second direction Y. Moreover, as shown in FIG. 4 , one side in the first direction X is called the first direction first side X1 , and the opposite side is called the first direction second side X2 . Moreover, in the second direction Y, the side with respect to the center of the work passage L on which the accommodating part 1 exists is called the accommodating part side Y2, and the opposite side (the side with respect to the accommodating part 1 on which the working passage L exists) is called Access side Y1. Regarding the article transport vehicle 3 , the direction along the traveling direction when the article transport vehicle 3 goes straight is called the front-rear direction U, and the direction orthogonal to the front-rear direction U in the horizontal plane is called the width direction V. Moreover, the traveling direction side of the article transport vehicle 3 in the front-rear direction U is called the front side U1, and the opposite side is called the rear side U2.

The article storage rack 2 is provided with a plurality of storage portions 1 arranged in the up-down direction Z and the first direction X. If additional explanation is given, the article storage rack 2 is provided with a plurality of shelf plates 6 spaced apart in the up-down direction Z, and a plurality of shelf plates 6 are placed in a state arranged in the first direction X on the plurality of shelf plates 6 . 7 storage containers. In this way, the storage part 1 can be formed by each of the plurality of storage containers 7 provided in the article storage rack 2 . In the storage container 7 (storage part 1), a plurality of types of articles W are stored according to each category, and one type of article W is accommodated in one storage container 7.

The storage container 7 is provided with an opening surface 9 having an opening 8 through which articles W can be put in and out. The storage container 7 is installed on the article storage rack 2 so that the opening surface 9 faces the passage side Y1. Therefore, each of the storage portions 1 formed by the storage container 7 is provided with an opening surface 9 having an opening 8 through which the articles W can be put in and out. Furthermore, the plurality of storage portions 1 provided in one article storage rack 2 are arranged so that the opening surfaces 9 face the same direction.

As shown in FIG. 1 , the area where the article storage rack 2 is installed is divided into a plurality of areas E. As shown in FIG. Furthermore, in this embodiment, a responsible worker M is arranged for each of the plurality of areas E. The worker M performs the picking operation of transferring the items W from the item storage rack 2 to the item transfer vehicle 3 or transferring the items W from the item transfer vehicle 3 to the item storage rack 2 in the area E for which he/she is responsible. Storage work. Furthermore, the relationship between the number of areas E and the number of workers M can be changed arbitrarily. For example, one area E can be equipped with multiple workers M, or one worker M can be responsible for multiple areas E. .

The control device H shown in FIG. 7 stores stored article information, which is information on the number of articles W stored in the storage section 1 or the type of articles W stored in the storage section 1 . The control device H is configured to send the picking information to the control unit 15 of the article transport vehicle 3 based on the picking instructions and the stored article information after the picking instruction is output from the upper controller. The picking information is information showing the position of the storage unit 1 (target storage unit 1A) where the items W are taken out by the picking operation, or information showing the type or number of the items W taken out from the storage unit 1 . Furthermore, the control device H is configured to transmit the storage information to the control unit 15 of the article transport vehicle 3 based on the storage command and the storage item information after the storage instruction is output from the upper controller. The storage information is information showing the position of the storage unit 1 (object storage unit 1A) that stores articles W by the storage operation, or information showing the type or number of articles W stored in the storage unit 1 .

Next, the article transport vehicle 3 will be described. As shown in FIG. 4 , the direction is defined and explained according to the stopped state of the article transport vehicle 3 . In this embodiment, the article transport vehicle 3 basically stops from the center of the work path L toward the storage unit side Y2 with the front-rear direction U of the article transport vehicle 3 along the first direction X. In the state shown in FIG. 4 , the front side U1 of the article transport vehicle 3 faces the first direction second side X2, the rear side U2 of the article transport vehicle 3 faces the first direction first side X1, and the right side of the article transport vehicle 3 faces On the storage unit side Y2, the left side of the article transport vehicle 3 faces the passage side Y1. Furthermore, the first side X1 in the first direction corresponds to the work side where the operator M performs work on the support part 12 .

As shown in Figure 3, the article transport vehicle 3 is equipped with: a walking part 11, which walks on the ground F; a support part 12, which supports the article W; an irradiation part 13, which irradiates light; a display part 14, which displays picking information or storage information; and the control unit 15, which controls the walking unit 11, the irradiation unit 13 and the display unit 14. Moreover, as shown in FIG. 7 , the article transport vehicle 3 is equipped with: a barcode reader 17 that reads the barcode displayed on the article W; and a weighing unit 18 that measures the weight of the article W supported by the support unit 12 .

The traveling part 11 is provided with: a pair of traveling wheels 26 arranged in the second direction Y; driven wheels 27 disposed on both sides of the pair of traveling wheels 26 in the first direction X; and a traveling motor 28 (see FIG. 7), rotationally drives the traveling wheel 26. The traveling part 11 moves forward by rotating both of the pair of traveling wheels 26 in the forward direction with the traveling motor 28 , and by rotating both the pair of traveling wheels 26 in the reverse direction with the traveling motor 28 . Use this to walk backwards. In addition, the traveling unit 11 performs circular traveling by rotating the pair of traveling wheels 26 at different rotational speeds with the traveling motor 28 .

Support pillars 31 are erected in the traveling part 11 . In the example shown in the figure, two support stands 32 are supported at the middle position of the support 31 in the up-down direction Z in a state of being aligned in the up-down direction Z. In addition, the display unit 14 is supported on the upper end of the support column 31 . Containers 33 for transportation are supported on each of the traveling part 11 and the two support stands 32 , and these containers 33 for transportation correspond to the support part 12 that supports the article W.

The display unit 14 is configured to display picking information and storage information. The display unit 14 has a touch panel and is configured so that the operator M can operate it. The display unit 14 is provided so that a display screen for displaying various information faces the first side X1 in the first direction and faces upward.

The irradiation unit 13 irradiates light in a direction that is inclined to the second direction Y and that advances toward the first direction and the first side X1 as it advances toward the storage portion side Y2 in the up-down direction Z viewing angle. The irradiation unit 13 is configured to irradiate light toward an irradiation position P2 corresponding to the object storage portion 1A, and the irradiation position P2 is set to the opening surface 9 of the object storage portion 1A. In this embodiment, the irradiation unit 13 irradiates visible light that can be sensed by the operator M with the naked eye.

The irradiation unit 13 has: a first light emitting device 13A, which is on the right side with respect to the article transport vehicle 3 when facing the second side X2 in the first direction, and irradiates light toward the opening surface 9 of the storage unit 1; and a second light emitting device 13A. When the device 13B faces the second side X2 in the first direction, it is on the left side with respect to the article transport vehicle 3 and irradiates light toward the opening surface 9 of the storage unit 1 . The first light projecting device 13A is provided at the right end portion of the rear portion of the traveling portion 11 and emits light diagonally toward the right rear. The second light projecting device 13B is provided at the rear left end of the traveling portion 11 and irradiates light diagonally rearward to the left. The first light projecting device 13A and the second light projecting device 13B are configured to be able to change the angle of irradiation of light in the up and down direction Z (in other words, the angle of irradiation of light in the up and down direction Z), and are configured to be arranged in the up and down direction. The opening surface 9 of any one of the plurality of storage portions 1 in Z is irradiated with light. In addition, the first light projecting device 13A and the second light projecting device 13B are designed to adjust the front and rear direction U (the first direction ) of the irradiated light (in other words, the irradiated angle of the light in the front-to-back direction U). In addition, what is shown in FIG. 3 and FIG. 4 is the state in which the first light projecting device 13A irradiates light toward the object storage portion 1A.

As shown in FIGS. 5 and 6 , the irradiation unit 13 is configured to irradiate light so that quantity information indicating the quantity, position information indicating the position of the storage unit 1 and storage type information are displayed at the irradiation position P2. In this embodiment, the position information includes information indicating the position (bay) of the object storage unit 1A in the first direction X, and information indicating the position (level) of the object storage unit 1A in the up-down direction Z. . Furthermore, in addition to these grid and layer information, the position information may also include information indicating the working path L (aisle) existing in the object storage unit 1A. The storage type information indicates whether the target storage unit 1A is the storage unit 1 from which the article W is taken out during the picking operation or the storage unit 1 at the storage destination (the storage unit 1 that stores the article W during the storage operation). 1) information. In the present embodiment, the irradiation unit 13 is configured to irradiate light of a plurality of colors, and as shown in FIGS. 5 and 6 , when the object storage unit 1A is the storage unit 1 from which the goods are shipped, it communicates with the object storage unit 1A. When the part 1A is the storage part 1 of the storage destination, the color of the light irradiated to the irradiation position P2 is changed and the storage category information is displayed. The quantity information indicates the quantity of the article W taken out from the target storage unit 1A when the target storage unit 1A is the storage unit 1 from which the storage unit is shipped, and indicates the quantity information when the target storage unit 1A is the storage unit 1 of the storage destination. The number of articles W stored in the object storage unit 1A.

The control unit 15 executes the following controls based on the picking information or storage information sent from the control device H: controlling the first walking control (equivalent to walking control) and the second walking control of the walking unit 11; controlling the display unit 14; Display control; irradiation control that controls the irradiation unit 13; and detection control that detects completion of the work.

The first traveling control is to control the traveling unit 11 so that the traveling unit 11 travels to the setting position P1 set corresponding to the target storage unit 1A. The set position P1 is set on the passage side Y1 and on the first direction first side X1 or the first direction second side X2 in the first direction X with respect to the object storage portion 1A. In the example shown in FIG. 4 , the article transport vehicle 3 stops at a set position P1 set on the passage side Y1 and on the first direction second side X2 with respect to the object storage portion 1A. The second traveling control is control to control the traveling unit 11 so that the traveling unit 11 travels to a working position (not shown). The work position is a position set corresponding to the place where the following work is performed: the work of unloading the article W supported by the support part 12 by the picking work from the article transport vehicle 3 or the work of storing it by the storage work. The article W in the storage part 1 is supported by the support part 12 .

The display control is to control the display unit 14 so that the display unit 14 displays the following information: quantity information indicating the number of items W that enters and exits the target storage unit 1A; type information indicating the type of items W that enters and exits the target storage unit 1A. ; Position information indicating the position of the object storage unit 1A; storage category information; and container information indicating the container into which the article W is put in and out among the plurality of transport containers 33. When the control unit 15 performs display control based on the picking information, the position of the object storage unit 1A and the quantity information and type information of the items W taken out from the object storage unit 1A are displayed on the display unit 14 . A string or tag representing the picking operation is used as storage category information. In addition, when the control unit 15 executes display control based on the storage information, the position of the target storage unit 1A and the quantity information and type information of the article W stored in the target storage unit 1A are displayed on the display unit 14 . Display strings or tags representing storage operations as storage category information.

The irradiation control is to control the irradiation part 13 so as to irradiate the light to the irradiation position P2 corresponding to the object storage part 1A. In this embodiment, during the irradiation control, the control unit 15 controls the irradiation unit 13 to irradiate light at the irradiation position P2 so that quantity information indicating the number of articles W entering and exiting the object storage unit 1A is displayed on the first In the area J1, the position information indicating the position of the target storage unit 1A is displayed in the second area J2, and the storage category information is displayed in the third area J3. In addition, the control unit 15 controls the irradiation unit 13 to express the number of articles W to be taken out from the target storage unit 1A as quantity information when executing irradiation control based on the picking information; In the case of irradiation control, the number of articles W to be stored in the object storage unit 1A is expressed as quantity information. In this example, as the position information, the control unit 15 uses a number indicating the position (grid) of the object storage unit 1A in the first direction X and a number indicating the position (layer) of the object storage unit 1A in the up-down direction Z. Numbers appear as location information. Moreover, in this example, the control unit 15 controls the irradiation unit 13 so that when the irradiation control is executed based on the picking information and when the irradiation control is executed based on the storage information, the irradiation unit 13 is irradiated. The color of the light is different, and the storage category information is displayed at the irradiation position P2. Furthermore, the color of the light emitted by the irradiation unit 13 may not be different depending on the storage category. Instead, a character string or mark indicating the storage category may be displayed at the irradiation position P2 as the storage category information.

The control unit 15 is configured to read the barcode of the article W with the barcode reader 17 and thereby determine the type of the article W whose barcode has been read. The control unit 15 determines the article W of the type identified by reading the barcode of the article W with the barcode reader 17 as the article W to be loaded and unloaded on the support unit 12. The type and type information of the identified article W are When the types of the displayed items W are different, information indicating an error is displayed on the display unit 14 .

In addition, the control unit 15 stores weight information indicating the weight of the article W, and the weighing unit 18 is configured to measure the weight of the plurality of support portions 12 individually or to measure the total weight of the plurality of support portions 12 . The control unit 15 determines whether the item W of the type indicated by the type information is correctly loaded on the designated support unit 12 based on the change in weight measured by the weighing unit 18 and the weight information of the item W supported on the support unit 12 A quantity equal to the quantity shown in the quantity information was removed. The control unit 15 will display error information on the display unit 14 in the following cases: when it is determined that a different type of article W is loaded and unloaded on the support unit 12; When the number of items W shown in the information is a different number of items W, or when it is determined that the items W have been loaded and unloaded on a support portion 12 different from the specified support portion 12 .

In addition, during the detection control, the control unit 15 determines that the type of article W identified based on the information read by the barcode reader 17 matches the type of article W indicated by the type information, and changes the type information to the type W indicated by the type information. When a number of articles W of the indicated type are loaded and unloaded on the designated support part 12 corresponding to the quantity information, it is determined that the articles W have been correctly loaded and unloaded on the support part 12 . More specifically, the control unit 15 determines that the support unit 12 has correctly supported the article W in the detection control based on the picking information, and determines that the item W has been correctly unloaded from the support unit 12 in the detection control based on the storage information. Drop item W. As described above, the detection part 35 can be configured by the control part 15, the barcode reader 17 and the weighing part 18. The detection part 35 can detect that the article W taken out from the object storage part 1A is correctly supported on the support part 12 situation.

Next, the control of the control unit 15 will be described based on the flowchart shown in FIG. 8 . After receiving the picking information or storage information from the upper controller, the control unit 15 executes the first walking control so that the walking unit 11 moves to the object storage unit 1A ( corresponding to the object designated by the picking information or storage information). When specifying a plurality of object storage portions 1A, it is the setting position P1 (S1) of one of them). Thereafter, the control unit 15 executes display control and irradiation control in a state where the traveling unit 11 is located at the set position P1 (S2). Then, by detection control, it is determined whether the operation at one set position P1 has been completed (the article W has been correctly loaded and unloaded on the support part 12) (S3, S4). When the operation in one setting position P1 has been completed, and when all the operations in the plurality of target storage units 1A specified by the picking information or storage information are completed (S5: Yes), the second step is executed. Walking control (S6). On the other hand, when the operation in one setting position P1 has been completed, there is an object storage unit 1A for which the operation has not been completed among the plurality of object storage units 1A specified by the picking information or storage information (S5: No), the next first traveling control is executed so that the traveling unit 11 travels to the set position P1 corresponding to the object storage unit 1A of which the work has not been completed (S1). Then, the control unit 15 starts the irradiation control as the execution of the first walking control ends, and ends the irradiation control as the detection by the detection unit 35 occurs.

2. Other implementation forms Next, other embodiments of the article transport vehicle will be described.

(1) In the above embodiment, the irradiation position P2 is set to the opening surface 9 of the object storage portion 1A, but the irradiation position P2 may be appropriately changed. For example, as shown in FIG. 9 , the irradiation position P2 may be set on the ground F on which the walking unit 11 walks. At this time, it is preferable that during the irradiation control, as position information indicating the position of the object accommodating part 1A, a character string or a mark specifically indicating the position in the up-down direction of the object accommodating part 1A is displayed.

(2) In the above embodiment, the position information, quantity information, and storage category information are displayed at the irradiation position P2. However, it may also be configured as follows: only the position information, quantity information, and storage category information are displayed at the irradiation position P2. part of the information.

(3) In the above embodiment, in addition to the storage unit 1 of the delivery source, the storage unit 1 of the entry destination is also set as the target storage unit 1A. However, only the storage unit 1 of the delivery source may be set as the target. Storage section 1A.

(4) In the above embodiment, the irradiation control and the display control are started as the walking control is ended. However, one or both of the irradiation control and the display control may be started before the walking control is ended. That is, for example, the display control may be started simultaneously with the start of the walking control or during the execution of the walking control, or the irradiation control may be started during the execution of the walking control.

(5) In the above embodiment, the irradiation unit 13 irradiates light in a direction inclined with respect to the second direction Y at the up-down direction Z viewing angle. However, the irradiation unit 13 may also be configured as follows: the irradiation unit 13 irradiates light at the up-down direction Z viewing angle. Light is irradiated in a direction parallel to the second direction Y.

(6) In the above embodiment, the irradiation part 13 irradiates visible light, but the irradiation part 13 may also irradiate invisible light (ultraviolet, infrared, etc.). Furthermore, at this time, at the irradiation position P2, a member containing a phosphor that emits light by invisible light may be provided, or a paint containing a phosphor may be applied.

(7) Furthermore, the configuration disclosed in each of the above embodiments may be combined with the configuration disclosed in other embodiments as long as there is no contradiction. Regarding other structures, the embodiments disclosed in this specification are merely illustrations in all points. Therefore, appropriate and various changes can be made without departing from the gist of the present disclosure.

3. Summary of the above embodiments Hereinafter, an outline of the article transport vehicle described above will be described.

An article transport vehicle is provided with: a walking part that travels to a set position corresponding to each of a plurality of storage parts for storing articles; a support part that supports the article; an irradiation part that irradiates light; and a control part that controls the aforementioned walking part and the aforementioned irradiation unit, and the aforementioned storage unit storing items that can be supported on the aforementioned support unit is used as the target storage unit, and the aforementioned control unit performs the following control: walking control, and controls the aforementioned traveling unit so that the aforementioned traveling unit travels to the setting position corresponding to the object storage portion; and irradiation control for controlling the irradiation portion to irradiate light to an irradiation position corresponding to the object storage portion.

According to this configuration, the control unit performs walking control to cause the walking unit to move to a set position, and the control unit performs irradiation control to cause the irradiation unit to irradiate light to an irradiation position corresponding to the object storage portion. By irradiating light to the irradiation position in this way, the object storage portion can be displayed by light. Therefore, it is possible to prevent an operator from making a mistake in taking out an article from a storage unit other than the target storage unit during the picking operation. Furthermore, by providing the irradiation unit in the article transport vehicle, there is no need to provide a device for displaying the storage target portion in each of the plurality of storage units. Therefore, the overall cost of equipment for installing the article transport vehicle can be kept low.

Here, preferably, the irradiation unit is configured to irradiate light to display quantity information indicating the quantity at the irradiation position, and the control unit controls the irradiation unit during the irradiation control so as to change the display from the Quantity information of the number of items taken out from the object storage unit is displayed at the aforementioned irradiation position.

According to this configuration, the control unit executes irradiation control, and quantity information indicating the number of items taken out can be displayed at the irradiation position corresponding to the object storage portion. Therefore, it is possible to suppress the occurrence of a mistake in which the operator mistakenly takes out the number of articles taken out from the object storage unit during the picking operation.

Furthermore, preferably, each of the storage portions is provided with an opening surface, and the opening surface has an opening for allowing articles to enter and exit, and the plurality of storage portions are arranged so that the opening surfaces face the same direction, and the irradiation position is set. In the aforementioned opening surface of the aforementioned object storage portion.

According to this configuration, since the opening surface of the object storage portion is irradiated with light, the object storage portion among the plurality of storage portions can be displayed more clearly. Therefore, it is possible to further suppress operator errors in the picking operation.

Furthermore, it is preferable that the direction in which the plurality of storage portions are arranged is set as the arrangement and arrangement direction from an up-and-down perspective viewed in the up and down direction, and an operator in the arrangement and arrangement direction performs operations on the support portion. The side is the work side, and the irradiation unit irradiates light in the following direction from the up-down direction viewing angle: a direction inclined to the direction orthogonal to the arrangement direction, and the farther toward the storage portion side, the farther toward the direction. The direction of forward movement of the working side.

According to this configuration, the irradiation unit can irradiate the opening surface of the object storage portion in a state where the article transport vehicle is located at a position deviated from the object storage portion in the arrangement direction. Therefore, the target storage unit among the plurality of storage units can be displayed more clearly, and the object transport vehicle can be less likely to interfere when taking out the article from the target storage unit. Furthermore, the target storage unit can be made less likely to interfere when the article is supported on the support portion. When it becomes a disturbance, let the workers carry out picking operations.

Furthermore, preferably, a plurality of the storage portions are arranged in a vertically aligned state, and the irradiation portion is configured to irradiate light so as to display positional information indicating the position of the object storage portion in the vertical direction. In the irradiation position, the irradiation position is set on the ground on which the walking part walks, and the control part controls the irradiation part in the irradiation control to display the position information at the irradiation position.

According to this configuration, the position information of the object storage portion can be displayed on the ground by executing the irradiation control by the control unit. Therefore, the object storage portion among the plurality of storage portions arranged in the vertical direction can be more clearly displayed. Therefore, it is possible to further suppress operator errors in the picking operation.

Furthermore, it is more preferable to further include a detection unit, the detection unit detects that the article taken out from the object storage unit is correctly supported on the support unit, and the control unit starts when the execution of the walking control is completed. The irradiation control is completed according to the detection by the detection unit.

According to this configuration, by starting the irradiation of the light at the irradiation position with the end of the walking control, the operator can recognize the presence of the article taken out from the object storage unit, and by the detection unit The detection is performed to end the irradiation of the light at the irradiation position, so that the operator can recognize the end of the picking operation. Therefore, the picking work performed by workers can be made more efficient.

Furthermore, preferably, in addition to the storage portion that stores the outbound source of the articles supported by the support portion, the storage portion that can store the storage destination of the articles supported by the support portion is also provided as the aforementioned storage portion. Object storage department.

According to this configuration, light can be irradiated to the target storage unit when the article is stored in the storage unit at the storage destination, in addition to taking out the item from the storage unit of the delivery source. Therefore, when the operator stores items in the target storage unit for the purpose of replenishing items, etc., the target storage unit among the plurality of storage units can be clearly displayed to the operator.

Furthermore, preferably, the irradiation unit is configured to irradiate light so that storage category information is displayed at the irradiation position, and the storage category information indicates that the target storage unit is the storage unit from which the storage is shipped, or is the storage unit from which the storage is shipped. The information of the aforementioned storage department of the storage destination, The control unit controls the irradiation unit in the irradiation control to display the storage type information of the storage unit corresponding to the storage unit as the outbound source or the storage destination at the irradiation position.

According to this configuration, since the light displaying the storage category information is irradiated to the irradiation position, the operator can appropriately recognize that the operation performed on the target storage unit is an operation of taking out the article from the target storage unit or storing the article in the target storage unit. Work in the object storage department. Therefore, even in this case, the occurrence of operator errors can be suppressed. industrial availability

The technology disclosed in the present disclosure can be used in an article transport vehicle having a support portion for supporting articles.

1‧‧‧Storage Department 1A‧‧‧Object Storage Department 2‧‧‧Item storage rack 3‧‧‧Item transfer vehicle 6‧‧‧Shelf board 7‧‧‧Storage containers 8‧‧‧Opening part 9‧‧‧Open surface 11‧‧‧Walking Department 12‧‧‧Support part 13‧‧‧Irradiation Department 13A‧‧‧No.1 light emitting device 13B‧‧‧Second light emitting device 14‧‧‧Display part 15‧‧‧Control Department 17‧‧‧Barcode Reader 18‧‧‧Weighing Department 26‧‧‧Travel wheels 27‧‧‧Driven wheel 28‧‧‧Travel motor 31‧‧‧Pillars 32‧‧‧Support Platform 33‧‧‧Transportation containers 35‧‧‧Inspection Department E‧‧‧Area F‧‧‧Ground H‧‧‧Control device J1‧‧‧Region 1 J2‧‧‧Region 2 J3‧‧‧Region 3 L‧‧‧Work access M‧‧‧operator P1‧‧‧Set position P2‧‧‧Irradiation position U‧‧‧The front and rear directions of the transport vehicle U1‧‧‧The front side of the transport vehicle U2‧‧‧The rear side of the transport vehicle V‧‧‧width direction W‧‧‧items X‧‧‧1st direction (arrangement direction) X1‧‧‧1st direction 1st side (work side) X2‧‧‧1st direction 2nd side Y‧‧‧2nd direction Y1‧‧‧passage side Y2‧‧‧Storage side Z‧‧‧up and down direction Steps S1~S6‧‧‧

Figure 1 is a plan view of the picking equipment. Figure 2 is a perspective view of the picking equipment. Fig. 3 is a rear view of the article transport vehicle. FIG. 4 is a perspective view showing the state of the irradiation part in the irradiation storage part. FIG. 5 is a front view of the object storage unit showing the state in which the irradiation unit irradiates based on the picking information. FIG. 6 is a front view of the object storage portion showing the state in which the irradiation unit irradiates based on the storage information. Figure 7 is a control block diagram. Fig. 8 is a control flow chart of the control unit. 9 is a perspective view showing a state in which the irradiation unit irradiates the ground in another embodiment.

1‧‧‧Storage Department

1A‧‧‧Object Storage Department

2‧‧‧Item storage rack

3‧‧‧Item transfer vehicle

6‧‧‧Shelf board

7‧‧‧Storage containers

8‧‧‧Opening part

9‧‧‧Open surface

11‧‧‧Walking Department

12‧‧‧Support part

13‧‧‧Irradiation Department

13B‧‧‧Second light emitting device

14‧‧‧Display part

31‧‧‧Pillars

32‧‧‧Support Platform

33‧‧‧Transportation containers

F‧‧‧Ground

L‧‧‧Work access

P1‧‧‧Set position

P2‧‧‧Irradiation position

U‧‧‧The front and rear directions of the transport vehicle

U1‧‧‧The front side of the transport vehicle

U2‧‧‧The rear side of the transport vehicle

V‧‧‧width direction

W‧‧‧items

X‧‧‧1st direction (arrangement direction)

X1‧‧‧1st direction 1st side (work side)

X2‧‧‧1st direction 2nd side

Y‧‧‧2nd direction

Y1‧‧‧passage side

Y2‧‧‧Storage side

Z‧‧‧up and down direction

Claims (7)

An article transport vehicle is provided with: a walking part that travels to a set position corresponding to each of a plurality of storage parts for storing articles; a support part that supports the article; an irradiation part that irradiates light; and a control part that controls the aforementioned walking part And the aforementioned irradiation part uses the aforementioned storage part storing items that can be supported on the aforementioned support part as the target storage part, and the aforementioned control part performs the following control: walking control, and controls the aforementioned walking part so that the aforementioned walking part walks to a position corresponding to the aforementioned setting position set for the aforementioned object storage portion; and irradiation control for controlling the aforementioned irradiation portion to irradiate light to an irradiation position corresponding to the aforementioned object storage portion, each of the aforementioned storage portions having an opening surface, and the aforementioned opening surface having an opening surface. As for the openings for items to enter and exit, the plurality of storage sections are arranged so that the opening surfaces face the same direction. From an up-down perspective viewed in the up-down direction, the direction in which the plurality of storage sections are arranged is regarded as the arrangement direction. The side in the arrangement direction where the operator performs operations on the support portion is defined as the work side, and the set position is set on the opposite side to the work side with respect to the object storage portion, The irradiation unit irradiates light in a direction that is inclined to a direction orthogonal to the arrangement direction and that advances toward the work side toward the storage portion side in the up-down direction viewing angle. The article transport vehicle of claim 1, wherein the irradiation position is set at the opening surface of the object storage portion. An article transport vehicle is provided with: a walking part that travels to a set position corresponding to each of a plurality of storage parts for storing articles; a support part that supports the article; an irradiation part that irradiates light; and a control part that controls the aforementioned walking part And the aforementioned irradiation part uses the aforementioned storage part storing items that can be supported on the aforementioned support part as the target storage part, and the aforementioned control part performs the following control: walking control, and controls the aforementioned walking part so that the aforementioned walking part walks to a position corresponding to the setting position set for the object storage portion; and irradiation control for controlling the irradiation portion to irradiate light to an irradiation position corresponding to the object storage portion, and the plurality of said storage portions are arranged in a vertically arranged state. Arranged, the irradiation unit is configured to irradiate light to display position information indicating the position of the object storage unit in the up-down direction at the irradiation position, and the irradiation position is set on the ground on which the walking unit walks, The control unit controls the irradiation unit to display the position information at the irradiation position during the irradiation control. The article transport vehicle according to any one of claims 1 to 3, wherein the irradiation unit is configured to irradiate light so that quantity information indicating the quantity is displayed at the irradiation position, and the control unit controls the irradiation control unit during the irradiation control. The irradiation unit displays quantity information indicating the number of items taken out from the object storage unit at the irradiation position. The article transport vehicle according to any one of claims 1 to 3 is further provided with a detection part. The detection part detects that the article taken out from the object storage part is correctly supported on the support part, and the control part is accompanied by The irradiation control is started after the execution of the walking control is completed, and the irradiation control is ended with detection by the detection unit. The article transport vehicle according to any one of claims 1 to 3, wherein in addition to the aforesaid storage portion that can store the outbound source of the items supported by the aforementioned support portion, it will also be able to store the storage destination of the items supported by the aforementioned support portion. The aforementioned storage portion of the ground is also referred to as the aforementioned object storage portion. The article transport vehicle of Claim 6, wherein the irradiation unit is configured to irradiate light to display storage category information at the irradiation position, and the storage category information indicates that the target storage unit is the storage unit from which the storage is shipped, Or it is the information of the aforementioned storage unit at the aforementioned storage destination, and the aforementioned control unit controls the aforementioned irradiation unit during the aforementioned irradiation control, so as to The storage type information corresponding to the storage unit where the target storage unit is the storage unit from which the storage is shipped or the storage unit where the storage unit is stored is displayed at the irradiation position.